/*
* Copyright (c) 2025 Shenzhen Kaihong Digital Industry Development Co., Ltd.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/

#pragma once

#include "interfaces/c++/Node.h"
#include <ros/ros.h>
#include <string_view>
#include <memory>

namespace OHOS
{
    namespace OHMW
    {
        class RosNode : public Node
        {
        public:
            RosNode(std::string_view id);
            ~RosNode();

            int32_t Send(std::string_view path, const uint8_t *data, uint32_t len);
            int32_t Recv(std::string_view path, uint8_t *data, uint32_t len, uint32_t timeout);
            int32_t Recv(std::string_view path, std::function<void(uint8_t *, uint32_t)> callback);

        private:
            std::shared_ptr<ros::NodeHandle> node_;
        };
    }
}